Show Payload Command

This command shows the dynamic feedforward (DFF) percent payload value for the specified robot.

Show Payload [robot]

Prerequisites

None

Parameters

robot

Optional robot number. If omitted, defaults to 1..

Remarks

The command outputs the current value of the selected robot's Dynamic Feedforward Payload parameter. This value ranges from 0 to 100 and is interpreted as a percentage. The Payload adjusts the system's internal dynamic model of the robot to compensate for the mass of the object held by the gripper.

It important to have this value set correctly in order for the DFF gravity compensation to be as accurate as possible. For many kinematic modules, this parameter also alters the feedforward torque that is applied when the robot is moving, which improves the robot's performance and minimizes its tracking error.

Examples

Show Payload 1
25.0

This display indicates that the Payload for robot 1 is set to 25% of the maximum payload anticipated.